Revision 861
homing works and is added to library
| branches/autonomous_recharging/code/projects/libbayboard/bayboard_lib.c | ||
|---|---|---|
| 67 | 67 |
orb_init(); |
| 68 | 68 |
} |
| 69 | 69 |
|
| 70 |
if(config & IR) |
|
| 71 |
{
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IR_init(); |
|
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} |
|
| 74 |
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| 70 | 75 |
sei(); |
| 71 | 76 |
// delay a bit for stability |
| 72 | 77 |
_delay_ms(1); |
| branches/autonomous_recharging/code/projects/libbayboard/bayboard_lib.h | ||
|---|---|---|
| 48 | 48 |
#define ORB 0x04 |
| 49 | 49 |
/** @brief Initialize I2C **/ |
| 50 | 50 |
#define I2C 0x20 |
| 51 |
/** @brief Initialize homing **/ |
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| 52 |
#define IR 0x40 |
|
| 51 | 53 |
/** @brief Initialize everything **/ |
| 52 | 54 |
#define ALL_ON 0xFF |
| 53 | 55 |
|
| ... | ... | |
| 72 | 74 |
#include "reset.h" |
| 73 | 75 |
#include "orb.h" |
| 74 | 76 |
#include "time.h" |
| 77 |
#include "homing.h" |
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| 75 | 78 |
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| 76 | 79 |
#endif |
| 77 | 80 |
|
| branches/autonomous_recharging/code/projects/libbayboard/homing.c | ||
|---|---|---|
| 42 | 42 |
#include "serial.h" |
| 43 | 43 |
|
| 44 | 44 |
volatile int state = 0; |
| 45 |
volatile int on = 0; |
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| 45 | 46 |
|
| 46 | 47 |
void IR_init(void){
|
| 47 | 48 |
|
| ... | ... | |
| 61 | 62 |
TCCR1A |= _BV(COM1B1)|_BV(COM1B0)|_BV(WGM11); |
| 62 | 63 |
TCCR1B |= _BV(WGM13)|_BV(WGM12)|_BV(CS10); |
| 63 | 64 |
ICR1 = 0x9C40; |
| 65 |
on = 0; |
|
| 64 | 66 |
|
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| 66 | 67 |
} |
| 67 | 68 |
|
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void IR_on(void){
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on = 1; |
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} |
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void IR_off(void){
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on = 0; |
|
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} |
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|
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| 68 | 78 |
ISR(TIMER1_OVF_vect){
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state = (state+1)%4; |
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PORTA |= state; |
|
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PORTC &= state + 0xFC; |
|
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if(on){
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if(state == 7) |
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state = 0; |
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else |
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state++; |
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| 72 | 85 |
|
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if (state<4) |
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PORTA ++; |
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else |
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PORTA &= 0xFC; |
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} |
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else{
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PORTA &= 0xFC; |
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} |
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| 73 | 95 |
} |
| branches/autonomous_recharging/code/projects/libbayboard/homing.h | ||
|---|---|---|
| 33 | 33 |
**/ |
| 34 | 34 |
|
| 35 | 35 |
void IR_init(void); |
| 36 |
void IR_on(void); |
|
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void IR_off(void); |
|
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